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SUMMARY
At present, most of the dynamic research on planing ships has been directed towards analysing the ship's motions in either
the 3-DOF (Degrees Of Freedom) mode in the longitudinal vertical plane or in the 3-DOF or 4DOF mode in the lateral
vertical plane.
For this reason Delft University of Technology and MARIN have started the set-up of describing the dynamic behaviour
of planing ships in a 6DOF mathematical model. This research program consisted first of all in developing a 6-00F
computer simulation program in the' time domain. Such a simulation program is to be used to predict the response of
these type of vessels to disturbances during high speed sailing.
For describing the behaviour of planing ships in still water static tests have been executed with two planing hull forms in
the towing tank of Delft University of Technology. The test program consisted of measuring three force- and three moment
components as a function of the pitch, rise (draught), roll, drift and speed of the model.
At a next stage a model test program is anticipated to determine the added mass and damping components of these two
hull forms and also the rudder forces. In the meantime the program is in operation while using empirically estimated values
for these quantities.
In this paper the set-up of the mathematical model will be presented. Also a discussion will be given about the use of
these static contributions in a time domain simulation to model the behaviour of the ship.
AUTHORS' BIOGRAPHIES
Mr S L Toxopeus graduated from the Oelft University of
Technology in 1996. He is currently employed as project
manager at the Maritime Research Institute of the
Netherlands in Wageningen.
Or J A Keuning graduated from the Oelft University of
Technology in 1977 and obtained his doctorate at Oelft
University of Technology in 1994. He is employed as a
lecturer at the Ship Hydromechanics Department of Delft
Univsrslty jot Technology, his main subject being the
dynamics of advanced naval vehicles, including sailing
yachts.
Or J P Hoof! graduated from the Delft University of
Technology in 1962 and obtained his doctorate at Delft
University of Technology in 1970. He has been employed
at MARIN since 1962. He is currently senior project
manager involved in developing mathematical models for
simulating the behaviour of various kinds of marine
structures.
1.
INTRODUCTION
\-'::;;11Ii:;;:1'1i:t~
r1l::1 T ....
''''''IQ" l'
vJ- 11'C:l'
1"l.
""'J"".llf+... AI
4'
component:
2.
with
COORDINATE SYSTEM
u being
3.
M0DEL TESTS
3.1
MODEL PARTICULARS
The models used for this study are Model 233 and Model
277 of Delft University of Technology. Model 277 is based
on the Clement and Blount [1] 62 series with a deadrise
of 25 degrees. Keuning [6] performed seakeeping tests
with this model. Mode! 233 is used by Keuning et al [8]
during experiments with models with warped bottoms.
The main particulars are stated in the table below:
Symbol
Type
Length
Model 233
Model 277
Deadrise 25
Twisted bottom
1.50m
1.50m
e.;
0.367m
O.367m
Ap
0.450m 2
0.4589rrr
CAP
48.8%L
48.8%L
Length/Beam ratio
UB
4.09
4.09
9.45kg
6. 67kg
LCOR
O.726m
O.726m
VCOR
O.080m
O.OBOm
1\
t1
~
~
. .
. .
It-
k2L
~
/7 t7'7"--7
I
I~\~ ~
~
r-, r-,
7i"'r?
[( fl/
7 /7
~~
--j
. .
Cl
.L%
. .
,
VIJ
-j
Figure 1 Body plans of Model 233 (above) and Model 277 (below)
77 i7-?-
l7
3.2
3.3
TEST PROGRAM
EXPERIMENTAL SET-UP
Speed U:
the speed has great influence on the position of the ship
relative to the free water surface. A change in speed will
result in a change of trim and rise. The model was tested
at the speeds of: UI = 2.0ms 1, U2 = 3.0ms 1 and U3 =
Pitch 6:
4.
MATHEMATICAL MODEL
4.1
s.oms',
anarysis.
-e.
Drift
p:
a:
ur
Rise of COR
1:
4.2
DAMPING FORCES
4.2(c)
Yaw damping
x, y and
4.2(a)
Ltane
Roll damping
b=2'let,:ex
1/(1 +Mpp)\'c
4.2(b)
PROPELLER FORCES
Xprop
Kc~=Kpp=-bp
Pitch damping
u '(1-w)
p
-o,
b=2-.:.jU
'<1
!'Y +Mqq )'c
The damping moment for pitch is now: Mcarrp=Mq'q=-b'q
M prop
Nprop=-{yprop-Y
s:
RUDDER FORCES
...
...
canter
line
r-----------,L---.....::::::..-.:--~o:::__~;:::___-----..,_-
new
Figure 2 Forces acting on the rudder
vr
where
ff"
'" 6.13A. [2] rudd er I'ft
I coe icient
A....2.25
Where
C
Du
o,
increment
where
Cd b
'"
'" 1.0
91
xr,Yr,zr
COl
L&
1tA.
where
ADDED MASS
4.6(a)
Considerations
mil<(x)
m;.(x) =0
~(Y,posb-Rsin8-DsinSJx,...(x,+ah,xh)LcosSJcose
.. 0.672Cs-D.153 [2]
mu
m..e
myy
m,..
mY"
jm""
mzz
mza
m,..
mu
jm..e
mza
moo
10
mY"
:"j
Imxx
1
where
."
"'''
of gravity
4.5
for i + k odd
Krud=- Yn.xJZ,+Z'vdY'
M,vd=X,vd'z, -z.;
..
x,y,z,Q,e,'l'
or
X,ud=-Rcosb-[k;OSb H - Y~inb-LsinbH
Yrud=( -Rsino-DsinoH+ Y,poso+(1 +ah)LcosoH),cOS9 F
Z,vd=( -Rsinb-DsinbH+ Y,posb+(1+a h)Lcosb H ) 'sine F
xh
i,k c 1 ... 6
mik{x)=ml<J{x)
with
YN=":pA,CNU,..,sino.1 U,..,sino.1
2
N,<Jd=-X"",Y,
4.6
~ij=~1!b2p.~(~, T, ...).
mij=~1!T2p'f2(~' T, ...).
Mu can be approxi-
4.6(c)
4.6(d)
mrr'
The function f(13) gives the quotient of the added mass for
a prism and the added mass for a flat plate. According to
p in radians,
f(P)=1-~.
is given by
f(~)=1 -i
while
7t
7t
2:,
2
the function by
2 2
results in f(-i')=O.
hi9J~]
This added mass per unit length mzz can now be used to
calculate the foilcwing added masses:
MzG=MezJL
=( m -x dx
zz
=(m
""" JL
yy
4.6(e)
x2 dx
M66 =(
m x2 dx
JL zz
m
=_Y_..
mr-T
yy
hj10=O .4472
hr.' =-0.0218
hr+2=-o13!\-9
hj13=-o0007
5.
B
1tpr_
m.. =
TmI
5.1
4.7
EQUATIONS OF MOTIONS
1.
2.
3.
4.
'x -
m(qw-rv)
m(ru-pw)
m(pv-qu)
Iy
Iz
K ..
M"'lM
1r:
(fyy-Iu)qr
.. 'x?q
- '.IP'-r)
- ':cqr
.. (lzz-/u)pr
rr P I'
N .. (lu-1yy)pq
m..Myy
My<
M,...,
m..Mzz
Mze
M~
'u+ M..
-I +M
Mze
Iyy .. Moo
Myy
-1:a..M.v
Izz+M"",
xz
m..Mxx
M =
."
Solving the above equation at each time step will give the
accelerations. Integration of these accelerations provides
the velocities u, v, W, p, q and t, which determine the
excitation forces J:.r at the next time step.
Transforming the velocities from the ship-fixed coordinate
system to the earth-fixed system and subsequently
integrating these earth-fixed velocities will provide the
position of the ship in the earth-fixed system.
Weight
TEST PROGRAM
SIMULATIONS
164 N
2.3 ms-t
3.7'
8S/m
3.7'
-4.5 mm
-3.1 mm
Model 277
159.9 N
2.4 ms-1
2.3'
1.5'
-5.3 mm
-3.9 mm
Rise z'XP
Rise
Model 233
zs:m
5.2
SIMULATION RESULTS
Description
Expected behaviour
Simulation result
R233-12
R23313
e
Decrease e
R233-14
Decrease GM
Increase 8
R233-15
Increase GM
Decrease 8
e = 3.72' ~ e =4.3d'
e = 3.72' ~ e =3.22'
8 =3.72' ~ e = 3.73'
e = 3.72' ~ e = 3.71
R233-16
Decrease mass
Decrease draught
T = 0.088m ~ T
R233-17
Increase mass
Increase draught
R277-12
Increase 8
= 0.088m ~ T = 0.093m
e = 1.4g" ~ e = 2.02'
R277-13
Decrease
R27714
Decrease GM
R277-15
Increase GM
e
Increase e
Decrease e
R277-16
Decrease mass
Decrease draught
R27717
Increase mass
Increase draught
Increase
= 0.082m
= O.085m ~ T = 0.079m
T = 0.085m ~ z = O.OgOm
0.15 <
Model 277:
0.1375 <
K.
< 0.30,
K.
0.15 <
< 0.275,
K9
< 0.30
Kg<0.15
Initial deviation
Simulation result
R23321
Decrease of speed
R233-22
Increase of speed
R23323
R233-24
R233-26
= -S'
T - 5 mm
Draught T + 5 mm
R27721
Decrease of speed
R23325
Initial drift ~
Draught
R27722
Increase of speed
R277-23
R277-24
Initial drift ~
R277-25
Draught
R277-26
Draught
= -S'
T - 5 mm
T + 5 mm
TABLE 3
Run ID
Description
Simulation result
R233-31
R23332
Decreasing oscillations
R233-33
Increasing oscillations
R233-34
R23335
K. =
R233-36
K.
Increasing oscillations
R23337
Decreasing oscillations
R23338
K.
Decreasing oscillations
Decreasing oscillations
R277-33
R27734
R277-31
R277-32
0.5
Ko
K.
Decreasing oscillations
= 0.60
Decreasing oscillations
Decreasing oscillations
= 0.30
Decreasing oscillations
Decreasing oscillations
= 5, K. = 0.55
R27735
K.
= 0.5 K.,o
R277-36
K.
R277-37
R277-38
K.
Decreasing oscillations
Decreasing oscillations
= 0.275
= 0,5 K.,o'
lea
Increasing oscillations
Decreasing oscillations
= 0.5 lea,o
Decreasing oscillations
Tactical
Advance
Transfer
Diameter
R233-41
11.37
13.50
5.77
Damping
Approach
Speed
Speed
Loss
ms"
K.
lCe
2.29
7.6
0.60
0.60
Roll
Pitch
R233-42
11.25
13.62
5.76
2.29
8.5
0.30
0.30
R277-41
12.68
14.45
6.47
2.37
7.1
0.55
0.60
2.37
7.3
0.27
0.30
+12%
+50%
50%
+50%
50%
R277-42
12.95
14.66
6.62
233: Difference
-1.1%
+0.9%
0.2%
277: Difference
+2.1%
+1.5%
+2.3%
R233-TT
11.37
13.50
5.77
2.29
7.6
0.60
0.60
R277-TT
12.78
14.31
6.48
2.28
7.0
0.55
0.60
+12.4%
+6.0%
-0.4%
-9.2%
-8.3%
+0%
Difference
+12.3%
10
+2.8%
Run Id
7.
Roll
First
overshoot
Second
overshoot
Pitch
Angle
Angle
R233-43
0.60
0.6
27.3
31.5
R233-44
0.30
0.3
28.9
34.3
R277-43
0.55
0.6
26.5
30.4
R277-44
0.275
0.3
27.1
31.2
233: Difference
-50% -50%
+5.9%
+8.9%
277: Differen~e
-50% -50%
+2.3%
+2.6%
8.
6.
ACKNOWLEDGEMENTS
Damping
are
TABLE 5
results
1.
2.
3.
4.
5.
6.
KEUNING, J A:
Invloed van de Deadrise op het
zeegangsgedrag van planerende schepen. Report
794-0 Delft University of Technology, June 1988.
7.
CONCLUSION
11
REFERENCES
n~n
o:1iJwl
r\,..U+ II ....h ,,.. .... :..., ..... " T ....""'I-. ......... I..... ,.u,
""t::JII\
VIIlYc::JI~1L1
\,11
16. TOXOPEUS, S L:
1c::J....,IIIIVIV~1,
December 1992.
9. LEWANDOWSKI, E M: 'Trajectory predictions for
high speed planing craft'. International Shipbuilding
Progress, Vol. 41, No. 426, pp. 137148, 1994.
c;
:E.3
f\.
"'-"'-"'~--------------------------------
, .~~---------------------------o .
1-
Fig.3
8
iim.=.!c:l
R23313 -
10
R27713
12
12
14
16
NOMENCLATURE
Symbol
Description
Unit
CB
GM
K
L
LCG
LCOR
M
N
p
q
r
T
u
ue
U
v
ve
VCG
VCOR
w
X
xe
xG
xR
Y
ye
yG
yR
z
Z
ze
zG
zR
b
q
f
m
Nm
m
m
m
Nm
Nm
rads-1
rads-1
rads-1
m
ms-1
ms-1
ms-1
ms-1
ms-1
m
m
ms-1
N
m
m
m
N
m
m
m
m
N
m
m
m
deg
deg
deg
deg
rad
rad
-
y
d
dd
kf
kq
13
z-pos [m]
0.010
0.008
0.006
0.004
0.002
0.000
-0.002
-0.004
0
8
Time [s]
R233-23
Fig. 4
10
12
14
16
14
16
R277-23
phi [deg]
2
1
0
-1
-2
-3
-4
-5
0
8
Time [s]
R233-24
Fig. 5
10
12
R277-24
14
phi [deg]
2
1
0
-1
-2
-3
-4
-5
-6
0
10
Time [s]
= 0.60
Fig. 6
15
20
= 0.15
40
20
-20
-40
-60
0
10
20
30
Time [s]
R277-43: Yaw
Fig. 8
R277-43: Rudder
15
40
50
30
20
15
15
9
30
20
6
35
40
25
10
10
y [m]
25
0
42
-3
44
40
-6
-9
42
R233-TT
-12
R277-TT
-15
0
Fig. 7
12
15
x [m]
18
21
24
16
27
30